ArticlePloS one2021
Axially rigid steerable needle with compliant active tip control.
Article in PloS one, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed, 15 citations in OpenAlex.
- Monolithic scalable compliant mechanisms.PloS one · 2026Article
- Steering strategies for wasp inspired self propelled needles.Scientific reports · 2025Article
- Analysis of Needle Placement Error During Prostate Biopsies in Real Clinical Cases: Effects of Needle Tip Orientation and Target Location.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
- In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures.IEEE robotics and automation letters · 2024Article
- FBG-based Shape-Sensing to Enable Lateral Deflection Methods of Autonomous Needle Insertion.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2024Article
- MR-guided HDR prostate brachytherapy with teleoperated steerable needles.Journal of robotic surgery · 2023Article
- Data-driven adaptive needle insertion assist for transperineal prostate interventions.Physics in medicine and biology · 2023Article
- Overcoming pubic arch interference in prostate brachytherapy using steerable needles.Journal of contemporary brachytherapy · 2022Article
Corrections and comments
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Authors and funding
4 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Steerable instruments allow for precise access to deeply-seated targets while sparing sensitive tissues and avoiding anatomical structures. In this study we present a novel omnidirectional steerable instrument for prostate high-dose-rate (HDR) brachytherapy (BT). The instrument utilizes a needle with internal compliant mechanism, which enables distal tip steering through proximal instrument bending while retaining high axial and flexural rigidity. Finite element analysis evaluated the design and the prototype was validated in experiments involving tissue simulants and ex-vivo bovine tissue. Ultrasound (US) images were used to provide visualization and shape-reconstruction of the instrument during the insertions. In the experiments lateral tip steering up to 20 mm was found. Manually controlled active needle tip steering in inhomogeneous tissue simulants and ex-vivo tissue resulted in mean targeting errors of 1.4 mm and 2 mm in 3D position, respectively. The experiments show that steering response of the instrument is history-independent. The results indicate that the endpoint accuracy of the steerable instrument is similar to that of the conventional rigid HDR BT needle while adding the ability to steer along curved paths. Due to the design of the steerable needle sufficient axial and flexural rigidity is preserved to enable puncturing and path control within various heterogeneous tissues. The developed instrument has the potential to overcome problems currently unavoidable with conventional instruments, such as pubic arch interference in HDR BT, without major changes to the clinical workflow.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.